CN209965014U - Sea cucumber fishing device - Google Patents
Sea cucumber fishing device Download PDFInfo
- Publication number
- CN209965014U CN209965014U CN201920848425.6U CN201920848425U CN209965014U CN 209965014 U CN209965014 U CN 209965014U CN 201920848425 U CN201920848425 U CN 201920848425U CN 209965014 U CN209965014 U CN 209965014U
- Authority
- CN
- China
- Prior art keywords
- frame
- sea cucumber
- containing box
- bottom plate
- buoyancy material
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Mechanical Means For Catching Fish (AREA)
Abstract
A sea cucumber catching device relates to the field of sea cucumber catching. The utility model solves the problems of high labor cost and low fishing efficiency existing in the manual fishing in the existing sea cucumber fishing mode; the fishing device adopts the mechanical arm to grab, so that the sea cucumber is easily damaged, and the value of the sea cucumber is greatly reduced. The utility model comprises a sea cucumber sucking and collecting device, an open frame type frame, a pressure-proof watertight cabin and a propulsion system, and the device can sail underwater through the propulsion system; the device is floated, submerged or transversely inclined by two vertical thrusters; the device can advance, retreat or turn by two horizontal thrusters, so that the whole device can flexibly work underwater; the sea cucumber at the sea bottom is sucked into the containing box through the collecting suction pipe by negative pressure generated by the axial flow pump system, so that the sea cucumber is not damaged by a hard structure and enters the containing box together with seawater. The utility model is used for the flexible fishing of sea cucumber.
Description
Technical Field
The utility model relates to a sea cucumber fishing field, concretely relates to sea cucumber fishing device.
Background
According to the consultable data, the total yield of the Chinese fishery in 2017 is 10880.62 billion yuan, and the year-on-year increase is 5.29%. Taking the sea cucumber as an example, the economic total yield of the sea cucumber in 2018 is expected to exceed 600 billion yuan. Currently, aquaculture mostly depends on manual operation. However, in the sea cucumber catching and culturing operation, the traditional divers have great harm to bodies after working for several hours in deep sea, so that the employment labor cost is extremely high and accounts for more than 50% of the total cost of aquaculture, which is also the main reason that the prices of sea cucumbers and other aquatic products are expensive. At present, except for a manual fishing mode, the sea cucumber fishing device basically adopts a manipulator to grab, but the manipulator grabbing mode is easy to damage the sea cucumber, so that the value of the sea cucumber is greatly reduced.
In conclusion, the manual fishing in the existing sea cucumber fishing mode has the problems of high labor cost and low fishing efficiency; the fishing device adopts the mechanical arm to grab, so that the sea cucumber is easily damaged, and the value of the sea cucumber is greatly reduced. SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problems of high labor cost and low fishing efficiency of manual fishing in the existing sea cucumber fishing mode; the sea cucumber catching device adopts the mechanical arm to grab, so that the sea cucumber is easily damaged, and the value of the sea cucumber is greatly reduced, and the sea cucumber catching device is further provided.
SUMMERY OF THE UTILITY MODEL
The technical scheme of the utility model is that:
a sea cucumber fishing device comprises a sea cucumber sucking and collecting device, wherein the sea cucumber sucking and collecting device comprises a collecting straw, a containing box, a tail drain pipe and an axial flow pump system, the containing box is a rectangular containing box, the collecting straw is obliquely arranged in front of the containing box, the tail end of the collecting straw is fixed on the front end face of the containing box and is in sealed communication with the containing box, the tail drain pipe is horizontally arranged below the containing box, the head end of the tail drain pipe is fixed on the bottom face of the containing box and is in sealed communication with the containing box, the axial flow pump system is arranged in the tail drain pipe, and the collecting straw, the containing box and the tail drain pipe form a sealed and communicated whole;
the fishing device further comprises an open-frame type frame, a pressure-resistant watertight cabin and a propulsion system, wherein the open-frame type frame comprises a frame bottom plate, two frame side plates, two front buoyancy material plates, two rear buoyancy material plates and four fixed aluminum strips, the two frame side plates are symmetrically arranged on two sides of the frame bottom plate, the frame bottom plate is horizontally arranged between the storage box and the tail drain pipe, two ends of the frame bottom plate are fixedly connected with the inner walls of the middles of the two frame side plates respectively, the inner wall of the upper part of each frame side plate is sequentially provided with one front buoyancy material plate and one rear buoyancy material plate from front to back, and the four fixed aluminum strips are arranged at the bottoms of the two frame side plates; the pressure-resistant watertight cabin is arranged on one side of the tail drain pipe and is fixed on the frame bottom plate; the propulsion system comprises two horizontal thrusters and two vertical thrusters, wherein one horizontal thruster is arranged between the front buoyancy material plate and the rear buoyancy material plate on each side, the front buoyancy material plate is arranged on the frame bottom plate, the two horizontal thrusters are symmetrically arranged along the central line of the open frame, the two vertical thrusters are symmetrically arranged on the left side and the right side of the rear end of the open frame, and the two vertical thrusters are arranged on the frame bottom plate.
Furthermore, the fishing device also comprises two cameras which are symmetrically arranged on two sides of the front end of the open frame, and the two cameras are fixed on the lower end face of the frame bottom plate.
Furthermore, the fishing device also comprises two illuminating lamps, the two illuminating lamps are symmetrically arranged on two sides of the front end of the open frame type frame, and the two illuminating lamps are fixed on the upper end face of the bottom plate of the frame.
Furthermore, the front side of each frame side plate is provided with an inclined corner, a cross-shaped frame is arranged inside each frame side plate, the frame bottom plate is horizontally arranged on the cross-shaped frames of the frame side plates on the two sides, and lightening holes are formed in the frame bottom plate.
Furthermore, the shape of each front buoyancy material plate block is the same as the shape of the corresponding frame side plate frame, and the shape of each rear buoyancy material plate block is the same as the shape of the corresponding frame side plate frame.
Further, withstand voltage watertight cabin is cylindrical structure, and withstand voltage watertight cabin includes skeleton and cylindrical seal chamber, and the skeleton is arranged in cylindrical seal chamber's inside along length direction.
Furthermore, the collecting suction pipe is positioned on one side of the middle line of the open frame in the length direction.
Furthermore, the inclination angle of the collecting suction pipe is the same as the inclination angles of the corners of the frame side plates on the two sides.
Compared with the prior art, the utility model has the following effect:
1. all the devices of the sea cucumber catching device can be stably fixed on the open frame, so that all the parts can form a whole and stably operate; in water, the extra buoyancy generated by the front buoyancy material plate and the rear buoyancy material plate is slightly larger than the extra gravity generated by other parts of the device, so that the device integrally embodies positive buoyancy; the sea cucumber catching device can realize that the device can sail underwater through a horizontal thruster and a vertical thruster; the device can realize floating, submerging or transversely inclining through two vertical thrusters; the device can advance, retreat or turn by two horizontal thrusters, so that the whole device can flexibly work underwater; the sea cucumber sucking and collecting device can suck sea cucumbers on the seabed into the containing box through the collecting suction pipe by negative pressure generated by the axial flow pump system, so that the sea cucumbers cannot be damaged by a hard structure and enter the containing box together with the original environment (water).
Drawings
FIG. 1 is a front view of the sea cucumber catching device of the present invention;
FIG. 2 is a side view of the sea cucumber catching device of the present invention;
FIG. 3 is a top view of the sea cucumber catching device of the present invention;
FIG. 4 is a bottom view of the sea cucumber catching device of the present invention;
FIG. 5 is an isometric view of the sea cucumber catching device of the present invention;
fig. 6 is a cross-sectional view of the sea cucumber catching device according to the present invention.
Detailed Description
The first embodiment is as follows: the sea cucumber catching device comprises a sea cucumber sucking and collecting device 1, the sea cucumber sucking and collecting device 1 comprises a collecting suction pipe 1-1, a containing box 1-2, a tail drain pipe 1-3 and an axial flow pump system 1-4, the containing box 1-2 is a rectangular containing box, the collecting suction pipe 1-1 is obliquely arranged in front of the containing box 1-2, the tail end of the collecting suction pipe 1-1 is fixed on the front end face of the containing box 1-2 and is in sealed communication with the containing box 1-2, the tail drain pipe 1-3 is horizontally arranged below the containing box 1-2, the head end of the tail drain pipe 1-3 is fixed on the bottom face of the containing box 1-2 and is in sealed communication with the containing box 1-2, the axial flow pump system 1-4 is arranged inside the tail drain pipe 1-3, the collecting suction pipe 1-1, the storage box 1-2 and the tail drain pipe 1-3 form a closed and communicated whole;
the fishing device also comprises an open frame type frame 2, a pressure-resistant watertight cabin 3 and a propulsion system 4, wherein the open frame type frame 2 comprises a frame bottom plate 2-1 and two frame side plates 2-2, the two front buoyancy material plates 2-3, the two rear buoyancy material plates 2-4 and the four fixed aluminum strips 2-5 are symmetrically arranged on two sides of the frame bottom plate 2-1, the frame bottom plate 2-1 is horizontally arranged between the storage box 1-2 and the tail drain pipe 1-3, two ends of the frame bottom plate 2-1 are fixedly connected with the inner walls of the middle parts of the two frame side plates 2-2 respectively, one front buoyancy material plate 2-3 and one rear buoyancy material plate 2-4 are sequentially arranged on the inner wall of the upper part of each frame side plate 2-2 from front to back, and the four fixed aluminum strips 2-5 are arranged at the bottoms of the two frame side plates 2-2; the pressure-resistant watertight cabin 3 is arranged on one side of the tail drain pipe 1-3, and the pressure-resistant watertight cabin 3 is fixed on the frame bottom plate 2-1; the propulsion system 4 comprises two horizontal thrusters 4-1 and two vertical thrusters 4-2, one horizontal thruster 4-1 is arranged between the front buoyancy material plate 2-3 and the rear buoyancy material plate 2-4 on each side, the front buoyancy material plate 2-3 is installed on the frame bottom plate 2-1, the two horizontal thrusters 4-1 are symmetrically arranged along the central line of the open frame 2, the two vertical thrusters 4-2 are symmetrically arranged on the left side and the right side of the rear end of the open frame 2, and the two vertical thrusters 4-2 are both installed on the frame bottom plate 2-1.
The axial-flow pump system 1-4 of the embodiment comprises a waterproof motor, a main shaft, an impeller and a stator support, wherein the waterproof motor is made of aluminum alloy and can work in seawater, and the waterproof motor drives the main shaft to rotate after being electrified to drive the impeller to rotate. The impeller is made of plastic materials, and can drive seawater to move backwards when rotating, so that suction is generated. The stator support is of an annular structure, an inner ring of the stator support is connected with the waterproof motor, an outer ring of the stator support is connected with the tail drain pipe 1-3, the stator support is guaranteed to be fixedly connected with the device when the axial flow pump system 1-4 generates suction, and the sea cucumber on the seabed is sucked into the containing box 1-2 through the collecting suction pipe 1-1 by negative pressure generated by the axial flow pump system 1-4.
The manufacturers of the horizontal thruster 4-1 and the vertical thruster 4-2 of the propulsion system 4 of the present embodiment are the zehai technology, and the model is T-80 s.
The second embodiment is as follows: the embodiment is described with reference to fig. 1 and 5, the fishing device of the embodiment further includes two cameras 5, the two cameras 5 are symmetrically arranged on two sides of the front end of the open frame 2, and the two cameras 5 are both fixed on the lower end face of the frame bottom plate 2-1. So set up, camera 5 is waterproof camera, and camera 5 can give the operative hand with the environmental information transfer who collects, and control program can pass through the picture intelligent recognition target that camera 5 collected. Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: the embodiment is described with reference to fig. 1 and 5, the fishing device of the embodiment further includes two illuminating lamps 6, the two illuminating lamps 6 are symmetrically arranged on two sides of the front end of the open frame 2, and both the two illuminating lamps 6 are fixed on the upper end surface of the frame bottom plate 2-1. So set up, illumination to the environment is realized to accessible light 6 to the exploration of environment is realized to cooperation camera 5. Other compositions and connections are the same as in the first or second embodiments.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 2, the front side of each frame side plate 2-2 of the embodiment is provided with an inclined corner, a cross-shaped frame is arranged inside each frame side plate 2-2, a frame bottom plate 2-1 is horizontally arranged on the cross-shaped frame of the frame side plates 2-2 at two sides, and the frame bottom plate 2-1 is provided with lightening holes. Other compositions and connection relationships are the same as in the first, second or third embodiment.
The fifth concrete implementation mode: referring to fig. 2, the shape of each front buoyancy material plate 2-3 is the same as the shape of the corresponding frame side plate 2-2, and the shape of each rear buoyancy material plate 2-4 is the same as the shape of the corresponding frame side plate 2-2. By the arrangement, in water, the extra buoyancy generated by the front buoyancy material plate 2-3 and the rear buoyancy material plate 2-4 is slightly larger than the extra gravity generated by other parts of the device, so that the device integrally embodies positive buoyancy. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.
The sixth specific implementation mode: referring to fig. 1, the pressure-resistant watertight compartment 3 of the present embodiment is a cylindrical structure, and the pressure-resistant watertight compartment 3 includes a framework and a cylindrical sealed cavity, and the framework is disposed inside the cylindrical sealed cavity along the length direction. With the arrangement, the electric equipment such as the circuit board, the transformer and the like are arranged in the pressure-resistant watertight cabin 3, so that the pressure-resistant watertight cabin can bear deeper water pressure; withstand voltage watertight cabin 3 is divided into two cabins about by inside skeleton, can fix all hardware on the skeleton to can share load for withstand voltage watertight cabin 3, the higher part of voltage is placed to first cabin, and the low-voltage part is placed to the second cabin, has both practiced thrift the space, has solved the problem of intaking again. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: referring to fig. 1 and 3, the collecting straw 1-1 of the present embodiment is positioned on one side of the center line of the open frame 2 in the longitudinal direction. With the arrangement, the position of the collecting suction pipe 1-1 is not centered but fixed at the left (right) position in the middle of the frame bottom plate 2-1, so that the gravity center floating center position can be adjusted, and the observation range of the camera 5 can be enlarged. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.
The specific implementation mode is eight: referring to fig. 1, the collection straw 1-1 of the present embodiment has the same inclination angle as the corner inclination angles of the frame side plates 2-2 on both sides. With such an arrangement, the possibility of structural damage due to the collision rate that may occur with the protruding portion of the collection straw 1-1 is reduced. Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six or seven.
Principle of operation
The working principle of the sea cucumber catching device of the utility model is described with reference to fig. 1 to 6:
the utility model discloses a collection of device is catched to sea cucumber through 5 realization of camera to environmental information, and realize the illumination to the environment through the light 6 from taking, cooperation camera 5 realizes the exploration to the environment (the image transmission that camera 5 will collect is to the control under-deck of matching, handle through subsequent algorithm, automatically to observing the type of benthos, the measurement is made to size and distribution, distinguish the sea cucumber in the image, and feed back the navigation control that the device matches, catch the sea cucumber target in the field of vision automatically, and can filter all the other species, avoid ecological damage, the image of handling also passes through the bank base of cable transmission to matching, the confession is controlled the hand and is referred to).
After the sea cucumber catching device identifies a sea cucumber target in a visual field, the sea cucumber catching device realizes a movement function through the propulsion system 4, two vertical thrusters 4-2 are simultaneously positively converted into a device to provide a lifting force to realize upward floating of the device, and are simultaneously reversely rotated to provide a descending force to realize downward submergence and differential rotation of the device to realize transverse inclination of the device; the device is forwards moved by simultaneously positively rotating the two horizontal thrusters 4-1, backwards moved by simultaneously reversely rotating the device and rotated at a differential speed, so that the steering of the device is realized; through the movement of four degrees of freedom, the whole device can flexibly work underwater and is positioned to a required working point. The utility model discloses can be through the environmental depth that matches depth gauge detection device and locate to according to the degree of depth that sets up, carry out depthkeeping navigation. The specific mode can lead the device to be stabilized at the height by a mode of leading the two vertical thrusters 4-2 to apply external force through a matching intelligent algorithm; the utility model discloses the course of device this moment is judged to the accessible compass to according to the direction of setting for, carry out directional navigation. The specific mode can stabilize the device at the height by matching an intelligent algorithm to enable the two horizontal thrusters 4-1 to apply external force.
When the sea cucumber catching device of the utility model moves to a required working point (to catch the sea cucumber), the sea cucumber is caught by the sea cucumber sucking and collecting device 1. The sea cucumber sucking and collecting device 1 can suck the sea cucumbers on the seabed into the containing box 1-2 through the collecting suction pipe 1-1 by negative pressure generated by the axial flow pump system 1-4, so as to complete the capture of the sea cucumbers. (when the device is started, after the collecting suction pipe 1-1 is close to the sea cucumber, the sea cucumber enters the containing box 1-2 together with silt and seawater, a grid is arranged at the joint between the head end of the tail drain pipe 1-3 and the containing box 1-2, the sea cucumber is blocked by the grid and stays in the containing box 1-2 at the moment, and the silt passes through the grid along with the seawater and enters the tail drain pipe 1-3.) the sea cucumber collecting device 1 is optimized in a hydromechanics mode, has larger adsorption force under the same flow, can realize three steps of lossless suction, storage and sand discharge, and further realize the task of efficiently fishing the sea cucumber.
Claims (8)
1. A sea cucumber fishing device comprises a sea cucumber sucking and collecting device (1), wherein the sea cucumber sucking and collecting device (1) comprises a collecting suction pipe (1-1), a containing box (1-2), a tail drain pipe (1-3) and an axial flow pump system (1-4), the containing box (1-2) is a rectangular containing box, the collecting suction pipe (1-1) is obliquely arranged in front of the containing box (1-2), the tail end of the collecting suction pipe (1-1) is fixed on the front end face of the containing box (1-2) and is in sealed communication with the containing box (1-2), the tail drain pipe (1-3) is horizontally arranged below the containing box (1-2), the head end of the tail drain pipe (1-3) is fixed on the bottom face of the containing box (1-2) and is in sealed communication with the containing box (1-2), the axial-flow pump system (1-4) is arranged in the tail drain pipe (1-3), and the collecting suction pipe (1-1), the containing box (1-2) and the tail drain pipe (1-3) form a closed and communicated whole;
the method is characterized in that: the fishing device further comprises an open-frame type frame (2), a pressure-resistant watertight cabin (3) and a propulsion system (4), wherein the open-frame type frame (2) comprises a frame bottom plate (2-1), two frame side plates (2-2), two front buoyancy material plates (2-3), two rear buoyancy material plates (2-4) and four fixed aluminum strips (2-5), the two frame side plates (2-2) are symmetrically arranged on two sides of the frame bottom plate (2-1), the frame bottom plate (2-1) is horizontally arranged between the containing box (1-2) and the tail drain pipe (1-3), two ends of the frame bottom plate (2-1) are fixedly connected with the inner walls in the middle of the two frame side plates (2-2), and a front buoyancy material plate (2-3) and a rear buoyancy material plate (2-4) are sequentially arranged on the inner wall on the upper portion of each frame side plate (2-2) from front to rear The four fixed aluminum strips (2-5) are arranged at the bottoms of the two frame side plates (2-2); the pressure-resistant watertight cabin (3) is arranged on one side of the tail drain pipe (1-3), and the pressure-resistant watertight cabin (3) is fixed on the frame bottom plate (2-1); the propulsion system (4) comprises two horizontal thrusters (4-1) and two vertical thrusters (4-2), one horizontal thruster (4-1) is arranged between the front buoyancy material plate (2-3) and the rear buoyancy material plate (2-4) on each side, the front buoyancy material plate (2-3) is installed on the frame bottom plate (2-1), the two horizontal thrusters (4-1) are symmetrically arranged along the central line of the open frame (2), the two vertical thrusters (4-2) are symmetrically arranged on the left side and the right side of the rear end of the open frame (2), and the two vertical thrusters (4-2) are installed on the frame bottom plate (2-1).
2. The sea cucumber catching device as claimed in claim 1, wherein: the fishing device further comprises two cameras (5), the two cameras (5) are symmetrically arranged on two sides of the front end of the open frame type framework (2), and the two cameras (5) are fixed on the lower end face of the framework bottom plate (2-1).
3. The sea cucumber catching device as claimed in claim 2, wherein: the fishing device further comprises two illuminating lamps (6), the two illuminating lamps (6) are symmetrically arranged on two sides of the front end of the open frame type frame (2), and the two illuminating lamps (6) are fixed on the upper end face of the frame bottom plate (2-1).
4. The sea cucumber catching device as claimed in claim 1, wherein: the front side of each frame side plate (2-2) is provided with an inclined corner, a cross-shaped frame is arranged inside each frame side plate (2-2), a frame bottom plate (2-1) is horizontally arranged on the cross-shaped frame of the frame side plates (2-2) at two sides, and lightening holes are formed in the frame bottom plate (2-1).
5. The sea cucumber catching device as claimed in claim 4, wherein: the shape of each front buoyancy material plate block (2-3) is the same as the shape of the corresponding frame side plate (2-2) frame, and the shape of each rear buoyancy material plate block (2-4) is the same as the shape of the corresponding frame side plate (2-2) frame.
6. The sea cucumber catching device as claimed in claim 1, wherein: the pressure-resistant watertight cabin (3) is of a cylindrical structure, the pressure-resistant watertight cabin (3) comprises a framework and a cylindrical sealing cavity, and the framework is arranged inside the cylindrical sealing cavity along the length direction.
7. The sea cucumber catching device as claimed in claim 1, wherein: the collecting suction pipe (1-1) is positioned on one side of the middle line of the open frame (2) in the length direction.
8. The sea cucumber catching device as claimed in claim 7, wherein: the inclination angle of the collecting suction pipe (1-1) is the same as the inclination angle of the corner of the frame side plates (2-2) at the two sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920848425.6U CN209965014U (en) | 2019-06-05 | 2019-06-05 | Sea cucumber fishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920848425.6U CN209965014U (en) | 2019-06-05 | 2019-06-05 | Sea cucumber fishing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209965014U true CN209965014U (en) | 2020-01-21 |
Family
ID=69265588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920848425.6U Expired - Fee Related CN209965014U (en) | 2019-06-05 | 2019-06-05 | Sea cucumber fishing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209965014U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114176053A (en) * | 2021-12-14 | 2022-03-15 | 中国海洋大学 | Device for underwater harvesting |
| CN114176052A (en) * | 2021-12-14 | 2022-03-15 | 中国海洋大学 | Device for underwater trapping |
| CN114467866A (en) * | 2021-12-24 | 2022-05-13 | 河北农业大学 | Sea intestine trapping system based on temperature control |
-
2019
- 2019-06-05 CN CN201920848425.6U patent/CN209965014U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114176053A (en) * | 2021-12-14 | 2022-03-15 | 中国海洋大学 | Device for underwater harvesting |
| CN114176052A (en) * | 2021-12-14 | 2022-03-15 | 中国海洋大学 | Device for underwater trapping |
| CN114467866A (en) * | 2021-12-24 | 2022-05-13 | 河北农业大学 | Sea intestine trapping system based on temperature control |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209965014U (en) | Sea cucumber fishing device | |
| CN105711779B (en) | A kind of eight propeller underwater robots | |
| CN110012207B (en) | Filming apparatus and inspection device | |
| CN110116794B (en) | Mini underwater robot capable of monitoring water quality and water sample collection method | |
| CN110606174A (en) | Robot device for underwater observation and salvage rescue | |
| CN110271656A (en) | A kind of ROV underwater robot | |
| CN111572735B (en) | Underwater robot | |
| CN207956006U (en) | A kind of underwater fishing robot | |
| CN210538307U (en) | Suction type sea cucumber catching robot | |
| CN109436255A (en) | A kind of underwater long range tunnel detection robot | |
| CN109941412A (en) | A kind of multi-functional universal remote control unmanned submersible platform and its application method | |
| CN109969363A (en) | A kind of underwater robot with mechanical arm | |
| CN112362093B (en) | Dam detection robot, detection system and detection method | |
| CN210083511U (en) | Mini underwater robot capable of monitoring water quality | |
| CN109367741A (en) | A kind of deformable autonomous underwater vehicle and its application method | |
| CN211223801U (en) | Robot device for underwater observation and salvage rescue | |
| CN110194254A (en) | Ocean communicates location navigation gripper equipment | |
| JP2018090168A (en) | Water survey vehicle | |
| CN209290645U (en) | A kind of deformable autonomous underwater vehicle | |
| CN108914899B (en) | Be used for water waste collection device | |
| CN214776474U (en) | Novel deepwater net box net supplementing robot | |
| CN115924010A (en) | Semi-submersible type dead fish collecting robot for deep and open sea aquaculture net cage and control method of robot | |
| CN114735163A (en) | Robot is salvaged to dead fish under water | |
| CN213323618U (en) | Sampling type underwater unmanned aerial vehicle | |
| CN113978668A (en) | Underwater fishing robot with high-degree-of-freedom mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200121 Termination date: 20200605 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |